Loading dataset: /data/cameron/mac_robot_datasets (whitelist=['home_towel_sideview']) n_window=50 Smith300DA3VolumeDataset: loading 1 sessions (whitelisted) home_towel_sideview: 320 frames loaded Rotation: k-means mode (K=8), basis=/data/cameron/para/libero/rotation_kmeans_basis_home_towel_sideview_n8.npz, bin counts=[22, 46, 38, 25, 44, 47, 51, 47] Smith300DA3VolumeDataset ready: 6 eps, 320 frames, 314 samples, rgb=0.98 GB, depth=0.33 GB Height range observed: [0.0403, 0.1694] → padded [0.0338, 0.1758], 32 bins of ~4.4mm each Z-bin occupancy: min=0, max=39, empty_bins=2 Dataset rotation_mode=kmeans Train: 299 Val: 15 Building model... Trainable: 30,362,312 Resuming DINO weights from /data/cameron/para/libero/checkpoints/dino_query_home_towel_kmeans8_v0/latest.pth loaded=258 keys (expect ~DINO trunk), missing=0, unexpected=0 Epoch 0: val_v=9.054 val_pix=75.3px val_grip_acc=0.012 val_rot_acc=0.154 Epoch 1: val_v=8.001 val_pix=64.0px val_grip_acc=0.115 val_rot_acc=0.182 Epoch 2: val_v=7.175 val_pix=60.2px val_grip_acc=0.147 val_rot_acc=0.339 Epoch 3: val_v=7.050 val_pix=56.2px val_grip_acc=0.267 val_rot_acc=0.327 Epoch 4: val_v=6.473 val_pix=44.6px val_grip_acc=0.311 val_rot_acc=0.341 Epoch 5: val_v=5.738 val_pix=34.7px val_grip_acc=0.385 val_rot_acc=0.316 Epoch 6: val_v=6.075 val_pix=30.5px val_grip_acc=0.403 val_rot_acc=0.304 Epoch 7: val_v=5.496 val_pix=28.9px val_grip_acc=0.424 val_rot_acc=0.320 Epoch 8: val_v=5.510 val_pix=25.5px val_grip_acc=0.456 val_rot_acc=0.260 Epoch 9: val_v=5.365 val_pix=24.4px val_grip_acc=0.470 val_rot_acc=0.297 Epoch 10: val_v=4.891 val_pix=21.8px val_grip_acc=0.477 val_rot_acc=0.350 Epoch 11: val_v=4.907 val_pix=23.1px val_grip_acc=0.447 val_rot_acc=0.371 Epoch 12: val_v=5.001 val_pix=22.2px val_grip_acc=0.438 val_rot_acc=0.382 Epoch 13: val_v=5.079 val_pix=20.5px val_grip_acc=0.417 val_rot_acc=0.392 Epoch 14: val_v=4.697 val_pix=21.3px val_grip_acc=0.465 val_rot_acc=0.472 Epoch 15: val_v=4.832 val_pix=25.6px val_grip_acc=0.505 val_rot_acc=0.502 Epoch 16: val_v=4.744 val_pix=22.1px val_grip_acc=0.516 val_rot_acc=0.502 Epoch 17: val_v=4.851 val_pix=23.9px val_grip_acc=0.560 val_rot_acc=0.507 Epoch 18: val_v=4.724 val_pix=24.8px val_grip_acc=0.555 val_rot_acc=0.583 Epoch 19: val_v=4.491 val_pix=21.6px val_grip_acc=0.576 val_rot_acc=0.532 Epoch 20: val_v=4.440 val_pix=18.9px val_grip_acc=0.571 val_rot_acc=0.539 Epoch 21: val_v=4.346 val_pix=18.5px val_grip_acc=0.608 val_rot_acc=0.560 Epoch 22: val_v=4.574 val_pix=21.6px val_grip_acc=0.604 val_rot_acc=0.551 Epoch 23: val_v=4.595 val_pix=21.0px val_grip_acc=0.611 val_rot_acc=0.581 Epoch 24: val_v=4.502 val_pix=19.9px val_grip_acc=0.615 val_rot_acc=0.569 Epoch 25: val_v=4.504 val_pix=20.2px val_grip_acc=0.613 val_rot_acc=0.583 Epoch 26: val_v=4.794 val_pix=20.6px val_grip_acc=0.643 val_rot_acc=0.601 Epoch 27: val_v=4.611 val_pix=20.4px val_grip_acc=0.611 val_rot_acc=0.606 Epoch 28: val_v=4.441 val_pix=19.4px val_grip_acc=0.636 val_rot_acc=0.608 Epoch 29: val_v=4.721 val_pix=19.5px val_grip_acc=0.613 val_rot_acc=0.583 Epoch 30: val_v=4.490 val_pix=19.7px val_grip_acc=0.636 val_rot_acc=0.659 Epoch 31: val_v=4.532 val_pix=21.9px val_grip_acc=0.624 val_rot_acc=0.661 Epoch 32: val_v=4.284 val_pix=17.0px val_grip_acc=0.659 val_rot_acc=0.668 Epoch 33: val_v=4.346 val_pix=18.9px val_grip_acc=0.652 val_rot_acc=0.652 Epoch 34: val_v=4.268 val_pix=18.0px val_grip_acc=0.659 val_rot_acc=0.624 Epoch 35: val_v=4.309 val_pix=18.9px val_grip_acc=0.643 val_rot_acc=0.694 Epoch 36: val_v=4.728 val_pix=21.3px val_grip_acc=0.654 val_rot_acc=0.664 Epoch 37: val_v=4.684 val_pix=22.7px val_grip_acc=0.652 val_rot_acc=0.694 Epoch 38: val_v=4.437 val_pix=19.0px val_grip_acc=0.650 val_rot_acc=0.684 Epoch 39: val_v=4.540 val_pix=21.1px val_grip_acc=0.654 val_rot_acc=0.696 Epoch 40: val_v=4.322 val_pix=19.9px val_grip_acc=0.654 val_rot_acc=0.724 Epoch 41: val_v=4.704 val_pix=21.8px val_grip_acc=0.647 val_rot_acc=0.719 Epoch 42: val_v=4.379 val_pix=20.0px val_grip_acc=0.659 val_rot_acc=0.719 Epoch 43: val_v=4.316 val_pix=17.7px val_grip_acc=0.650 val_rot_acc=0.756 Epoch 44: val_v=4.415 val_pix=18.5px val_grip_acc=0.680 val_rot_acc=0.717 Epoch 45: val_v=4.079 val_pix=15.8px val_grip_acc=0.677 val_rot_acc=0.724 Epoch 46: val_v=4.254 val_pix=17.7px val_grip_acc=0.691 val_rot_acc=0.714 Epoch 47: val_v=4.265 val_pix=17.5px val_grip_acc=0.671 val_rot_acc=0.730 Epoch 48: val_v=4.400 val_pix=18.7px val_grip_acc=0.671 val_rot_acc=0.740 Epoch 49: val_v=4.246 val_pix=16.9px val_grip_acc=0.657 val_rot_acc=0.751 Epoch 50: val_v=4.300 val_pix=18.3px val_grip_acc=0.680 val_rot_acc=0.728 Epoch 51: val_v=4.707 val_pix=19.3px val_grip_acc=0.666 val_rot_acc=0.744 Epoch 52: val_v=4.672 val_pix=20.5px val_grip_acc=0.668 val_rot_acc=0.735 Epoch 53: val_v=4.217 val_pix=18.2px val_grip_acc=0.675 val_rot_acc=0.749 Epoch 54: val_v=4.397 val_pix=18.6px val_grip_acc=0.677 val_rot_acc=0.767 Epoch 55: val_v=4.962 val_pix=20.2px val_grip_acc=0.666 val_rot_acc=0.776 Epoch 56: val_v=4.958 val_pix=22.3px val_grip_acc=0.657 val_rot_acc=0.770 Epoch 57: val_v=4.356 val_pix=18.4px val_grip_acc=0.677 val_rot_acc=0.788 Epoch 58: val_v=4.392 val_pix=17.8px val_grip_acc=0.677 val_rot_acc=0.772 Epoch 59: val_v=4.317 val_pix=18.5px val_grip_acc=0.680 val_rot_acc=0.802 Epoch 60: val_v=4.387 val_pix=18.8px val_grip_acc=0.668 val_rot_acc=0.793 Epoch 61: val_v=4.530 val_pix=19.8px val_grip_acc=0.666 val_rot_acc=0.788 Epoch 62: val_v=4.286 val_pix=18.0px val_grip_acc=0.677 val_rot_acc=0.802 Epoch 63: val_v=4.089 val_pix=17.8px val_grip_acc=0.698 val_rot_acc=0.793 Epoch 64: val_v=4.109 val_pix=16.3px val_grip_acc=0.682 val_rot_acc=0.816 Epoch 65: val_v=4.436 val_pix=19.4px val_grip_acc=0.677 val_rot_acc=0.809 Epoch 66: val_v=4.044 val_pix=16.1px val_grip_acc=0.698 val_rot_acc=0.818 Epoch 67: val_v=4.888 val_pix=22.4px val_grip_acc=0.671 val_rot_acc=0.804 Epoch 68: val_v=4.821 val_pix=19.4px val_grip_acc=0.680 val_rot_acc=0.806 Epoch 69: val_v=4.639 val_pix=19.4px val_grip_acc=0.664 val_rot_acc=0.811 Epoch 70: val_v=4.110 val_pix=15.3px val_grip_acc=0.698 val_rot_acc=0.816 Epoch 71: val_v=4.153 val_pix=18.3px val_grip_acc=0.694 val_rot_acc=0.832 Epoch 72: val_v=4.195 val_pix=16.4px val_grip_acc=0.700 val_rot_acc=0.843 Epoch 73: val_v=4.556 val_pix=19.6px val_grip_acc=0.691 val_rot_acc=0.806 Epoch 74: val_v=4.580 val_pix=18.1px val_grip_acc=0.689 val_rot_acc=0.820 Epoch 75: val_v=4.149 val_pix=17.9px val_grip_acc=0.696 val_rot_acc=0.853 Epoch 76: val_v=4.714 val_pix=19.2px val_grip_acc=0.687 val_rot_acc=0.820 Epoch 77: val_v=4.546 val_pix=18.7px val_grip_acc=0.694 val_rot_acc=0.862 Epoch 78: val_v=4.203 val_pix=16.9px val_grip_acc=0.714 val_rot_acc=0.871 Epoch 79: val_v=4.718 val_pix=19.0px val_grip_acc=0.700 val_rot_acc=0.825 Epoch 80: val_v=4.322 val_pix=17.1px val_grip_acc=0.696 val_rot_acc=0.862 Epoch 81: val_v=4.510 val_pix=17.2px val_grip_acc=0.687 val_rot_acc=0.855 Epoch 82: val_v=4.286 val_pix=16.9px val_grip_acc=0.714 val_rot_acc=0.864 Epoch 83: val_v=4.357 val_pix=17.2px val_grip_acc=0.707 val_rot_acc=0.853 Epoch 84: val_v=4.727 val_pix=17.1px val_grip_acc=0.680 val_rot_acc=0.850 Epoch 85: val_v=4.192 val_pix=15.6px val_grip_acc=0.698 val_rot_acc=0.853 Epoch 86: val_v=4.113 val_pix=16.5px val_grip_acc=0.700 val_rot_acc=0.866 Epoch 87: val_v=4.525 val_pix=17.6px val_grip_acc=0.698 val_rot_acc=0.857 Epoch 88: val_v=4.288 val_pix=17.2px val_grip_acc=0.700 val_rot_acc=0.857 Epoch 89: val_v=4.827 val_pix=18.5px val_grip_acc=0.698 val_rot_acc=0.853 Epoch 90: val_v=4.724 val_pix=18.4px val_grip_acc=0.698 val_rot_acc=0.846 Epoch 91: val_v=4.814 val_pix=18.4px val_grip_acc=0.703 val_rot_acc=0.866 Epoch 92: val_v=4.334 val_pix=16.0px val_grip_acc=0.721 val_rot_acc=0.864 Epoch 93: val_v=4.289 val_pix=16.6px val_grip_acc=0.698 val_rot_acc=0.878 Epoch 94: val_v=5.007 val_pix=17.9px val_grip_acc=0.712 val_rot_acc=0.850 Epoch 95: val_v=4.886 val_pix=19.1px val_grip_acc=0.700 val_rot_acc=0.855 Epoch 96: val_v=4.552 val_pix=17.7px val_grip_acc=0.689 val_rot_acc=0.866 Epoch 97: val_v=4.851 val_pix=18.6px val_grip_acc=0.707 val_rot_acc=0.843 Epoch 98: val_v=4.460 val_pix=16.9px val_grip_acc=0.703 val_rot_acc=0.882 Epoch 99: val_v=4.530 val_pix=16.8px val_grip_acc=0.710 val_rot_acc=0.855 Epoch 100: val_v=5.103 val_pix=19.8px val_grip_acc=0.705 val_rot_acc=0.864 Epoch 101: val_v=5.009 val_pix=19.4px val_grip_acc=0.700 val_rot_acc=0.869 Epoch 102: val_v=4.680 val_pix=18.6px val_grip_acc=0.700 val_rot_acc=0.864 Epoch 103: val_v=4.673 val_pix=19.0px val_grip_acc=0.703 val_rot_acc=0.869 Epoch 104: val_v=4.613 val_pix=17.3px val_grip_acc=0.705 val_rot_acc=0.871 Epoch 105: val_v=5.258 val_pix=18.5px val_grip_acc=0.712 val_rot_acc=0.873 Epoch 106: val_v=4.774 val_pix=18.1px val_grip_acc=0.717 val_rot_acc=0.880 Epoch 107: val_v=4.750 val_pix=17.0px val_grip_acc=0.705 val_rot_acc=0.876 Epoch 108: val_v=4.628 val_pix=16.6px val_grip_acc=0.714 val_rot_acc=0.882 Epoch 109: val_v=4.896 val_pix=17.2px val_grip_acc=0.712 val_rot_acc=0.887 Epoch 110: val_v=5.056 val_pix=18.6px val_grip_acc=0.714 val_rot_acc=0.866 Epoch 111: val_v=5.033 val_pix=19.8px val_grip_acc=0.703 val_rot_acc=0.871 Epoch 112: val_v=5.567 val_pix=18.7px val_grip_acc=0.712 val_rot_acc=0.853 Epoch 113: val_v=5.140 val_pix=19.4px val_grip_acc=0.717 val_rot_acc=0.869 Epoch 114: val_v=4.551 val_pix=17.6px val_grip_acc=0.717 val_rot_acc=0.882 Epoch 115: val_v=5.141 val_pix=19.3px val_grip_acc=0.717 val_rot_acc=0.859 Epoch 116: val_v=4.801 val_pix=17.2px val_grip_acc=0.721 val_rot_acc=0.878 Epoch 117: val_v=5.525 val_pix=21.0px val_grip_acc=0.703 val_rot_acc=0.850 Epoch 118: val_v=4.771 val_pix=17.5px val_grip_acc=0.707 val_rot_acc=0.887 Epoch 119: val_v=4.682 val_pix=17.6px val_grip_acc=0.719 val_rot_acc=0.889 Epoch 120: val_v=5.552 val_pix=19.1px val_grip_acc=0.724 val_rot_acc=0.873 Epoch 121: val_v=5.059 val_pix=17.4px val_grip_acc=0.714 val_rot_acc=0.882 Epoch 122: val_v=4.979 val_pix=19.2px val_grip_acc=0.714 val_rot_acc=0.889 Epoch 123: val_v=5.015 val_pix=16.4px val_grip_acc=0.724 val_rot_acc=0.885 Epoch 124: val_v=4.665 val_pix=17.2px val_grip_acc=0.712 val_rot_acc=0.901 Epoch 125: val_v=4.967 val_pix=18.9px val_grip_acc=0.707 val_rot_acc=0.882 Epoch 126: val_v=4.723 val_pix=16.7px val_grip_acc=0.721 val_rot_acc=0.892 Epoch 127: val_v=5.135 val_pix=17.5px val_grip_acc=0.712 val_rot_acc=0.882 Epoch 128: val_v=4.653 val_pix=17.4px val_grip_acc=0.730 val_rot_acc=0.906 Epoch 129: val_v=5.013 val_pix=18.7px val_grip_acc=0.719 val_rot_acc=0.871 Epoch 130: val_v=5.202 val_pix=20.3px val_grip_acc=0.710 val_rot_acc=0.862 Epoch 131: val_v=5.142 val_pix=17.7px val_grip_acc=0.721 val_rot_acc=0.871 Epoch 132: val_v=4.970 val_pix=18.5px val_grip_acc=0.712 val_rot_acc=0.882 Epoch 133: val_v=4.854 val_pix=17.2px val_grip_acc=0.724 val_rot_acc=0.885 Epoch 134: val_v=5.490 val_pix=20.6px val_grip_acc=0.707 val_rot_acc=0.866 Epoch 135: val_v=5.669 val_pix=19.3px val_grip_acc=0.707 val_rot_acc=0.859 Epoch 136: val_v=4.818 val_pix=17.7px val_grip_acc=0.721 val_rot_acc=0.889 Epoch 137: val_v=4.999 val_pix=18.3px val_grip_acc=0.705 val_rot_acc=0.880 Epoch 138: val_v=5.015 val_pix=18.8px val_grip_acc=0.728 val_rot_acc=0.882 Epoch 139: val_v=5.427 val_pix=18.5px val_grip_acc=0.719 val_rot_acc=0.873 Epoch 140: val_v=4.810 val_pix=17.0px val_grip_acc=0.733 val_rot_acc=0.892 Epoch 141: val_v=5.454 val_pix=18.5px val_grip_acc=0.733 val_rot_acc=0.873 Epoch 142: val_v=5.159 val_pix=18.4px val_grip_acc=0.700 val_rot_acc=0.889 Epoch 143: val_v=5.216 val_pix=18.8px val_grip_acc=0.726 val_rot_acc=0.889 Epoch 144: val_v=4.878 val_pix=17.3px val_grip_acc=0.740 val_rot_acc=0.899 Epoch 145: val_v=5.275 val_pix=18.0px val_grip_acc=0.728 val_rot_acc=0.887 Epoch 146: val_v=5.062 val_pix=18.1px val_grip_acc=0.712 val_rot_acc=0.887 Epoch 147: val_v=5.196 val_pix=18.2px val_grip_acc=0.721 val_rot_acc=0.873 Epoch 148: val_v=5.084 val_pix=16.6px val_grip_acc=0.726 val_rot_acc=0.887 Epoch 149: val_v=5.282 val_pix=19.4px val_grip_acc=0.730 val_rot_acc=0.878 Epoch 150: val_v=5.267 val_pix=18.5px val_grip_acc=0.728 val_rot_acc=0.880 Epoch 151: val_v=5.185 val_pix=18.2px val_grip_acc=0.740 val_rot_acc=0.899 Epoch 152: val_v=5.304 val_pix=18.6px val_grip_acc=0.705 val_rot_acc=0.892 Epoch 153: val_v=5.548 val_pix=19.5px val_grip_acc=0.728 val_rot_acc=0.876 Epoch 154: val_v=5.133 val_pix=16.8px val_grip_acc=0.733 val_rot_acc=0.892 Epoch 155: val_v=5.086 val_pix=16.8px val_grip_acc=0.724 val_rot_acc=0.894 Epoch 156: val_v=5.359 val_pix=17.1px val_grip_acc=0.733 val_rot_acc=0.887 Epoch 157: val_v=5.697 val_pix=19.6px val_grip_acc=0.717 val_rot_acc=0.885 Epoch 158: val_v=5.777 val_pix=19.3px val_grip_acc=0.730 val_rot_acc=0.894 Epoch 159: val_v=5.740 val_pix=19.4px val_grip_acc=0.710 val_rot_acc=0.894 Epoch 160: val_v=5.494 val_pix=18.2px val_grip_acc=0.728 val_rot_acc=0.892 Epoch 161: val_v=5.339 val_pix=17.5px val_grip_acc=0.721 val_rot_acc=0.896 Epoch 162: val_v=5.410 val_pix=20.0px val_grip_acc=0.710 val_rot_acc=0.894 Epoch 163: val_v=5.478 val_pix=18.1px val_grip_acc=0.719 val_rot_acc=0.894 Epoch 164: val_v=5.815 val_pix=19.6px val_grip_acc=0.717 val_rot_acc=0.873 Epoch 165: val_v=5.161 val_pix=17.8px val_grip_acc=0.730 val_rot_acc=0.899 Epoch 166: val_v=5.736 val_pix=18.5px val_grip_acc=0.721 val_rot_acc=0.889 Epoch 167: val_v=5.231 val_pix=17.3px val_grip_acc=0.712 val_rot_acc=0.899 Epoch 168: val_v=5.001 val_pix=18.7px val_grip_acc=0.737 val_rot_acc=0.887 Epoch 169: val_v=5.040 val_pix=17.5px val_grip_acc=0.726 val_rot_acc=0.894 Epoch 170: val_v=5.282 val_pix=17.6px val_grip_acc=0.737 val_rot_acc=0.885 Epoch 171: val_v=5.050 val_pix=16.4px val_grip_acc=0.740 val_rot_acc=0.894 Epoch 172: val_v=5.396 val_pix=17.7px val_grip_acc=0.728 val_rot_acc=0.882 Epoch 173: val_v=4.953 val_pix=17.0px val_grip_acc=0.740 val_rot_acc=0.887 Epoch 174: val_v=5.458 val_pix=18.0px val_grip_acc=0.733 val_rot_acc=0.887 Epoch 175: val_v=5.463 val_pix=17.3px val_grip_acc=0.721 val_rot_acc=0.889 Epoch 176: val_v=5.609 val_pix=18.6px val_grip_acc=0.721 val_rot_acc=0.889 Epoch 177: val_v=5.507 val_pix=18.7px val_grip_acc=0.728 val_rot_acc=0.885 Epoch 178: val_v=5.457 val_pix=19.2px val_grip_acc=0.717 val_rot_acc=0.892 Epoch 179: val_v=5.638 val_pix=19.1px val_grip_acc=0.747 val_rot_acc=0.887 Epoch 180: val_v=5.337 val_pix=17.0px val_grip_acc=0.724 val_rot_acc=0.899 Epoch 181: val_v=5.675 val_pix=19.0px val_grip_acc=0.742 val_rot_acc=0.878 Epoch 182: val_v=5.073 val_pix=16.5px val_grip_acc=0.747 val_rot_acc=0.896 Epoch 183: val_v=5.501 val_pix=17.9px val_grip_acc=0.742 val_rot_acc=0.896 Epoch 184: val_v=5.566 val_pix=19.1px val_grip_acc=0.735 val_rot_acc=0.889 Epoch 185: val_v=5.605 val_pix=18.0px val_grip_acc=0.728 val_rot_acc=0.901 Epoch 186: val_v=5.230 val_pix=18.7px val_grip_acc=0.724 val_rot_acc=0.899 Epoch 187: val_v=5.110 val_pix=17.3px val_grip_acc=0.749 val_rot_acc=0.899 Epoch 188: val_v=6.041 val_pix=18.4px val_grip_acc=0.728 val_rot_acc=0.876 Epoch 189: val_v=5.709 val_pix=18.2px val_grip_acc=0.721 val_rot_acc=0.887 Epoch 190: val_v=5.939 val_pix=18.6px val_grip_acc=0.730 val_rot_acc=0.892 Epoch 191: val_v=5.756 val_pix=17.3px val_grip_acc=0.721 val_rot_acc=0.894 Epoch 192: val_v=5.635 val_pix=18.0px val_grip_acc=0.730 val_rot_acc=0.899 Epoch 193: val_v=5.317 val_pix=17.9px val_grip_acc=0.733 val_rot_acc=0.908 Epoch 194: val_v=5.257 val_pix=17.3px val_grip_acc=0.747 val_rot_acc=0.903 Epoch 195: val_v=5.817 val_pix=18.8px val_grip_acc=0.740 val_rot_acc=0.882 Epoch 196: val_v=5.383 val_pix=16.8px val_grip_acc=0.744 val_rot_acc=0.894 Epoch 197: val_v=5.081 val_pix=17.7px val_grip_acc=0.730 val_rot_acc=0.901 Epoch 198: val_v=5.702 val_pix=17.5px val_grip_acc=0.740 val_rot_acc=0.908 Epoch 199: val_v=5.977 val_pix=18.7px val_grip_acc=0.728 val_rot_acc=0.896